def _setup_():
global rServo
global lServo
GPIO.setmode(GPIO.BCM)
GPIO.setup(RIGHT_SERVO_PIN, GPIO.OUT)
rServo.start(5)
lServo = GPIO.PMW(LEFT_SERVO_PIN, 100)
lServo = GPIO.start(5)
GPIO.setwarnings(False)
GPIO.setup(notReadyLedPin, GPIO.OUT)
GPIO.setup(readyLedPin, GPIO.OUT)
GPIO.setup(triggerPin, GPIO.OUT)
SERVO_CAM0.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, Frame_W)
SERVO_CAM0.set(cv2.cv.CV_CAP - PROP_FRAME_HEIGHT, Frame_H)
SERVO_CAM1.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, Frame_W)
SERVO_CAM1.set(cv2.cv.CV_CAP - PROP_FRAME_HEIGHT, Frame_H)
time.sleep(2)
GPIO.setup(CON_PIN, GPIO.OUT)
GPIO.output(CON_PIN, GPIO.HIGH)
time.sleep(.001)
GPIO.setup(CON_PIN, GPIO.IN)
_offset_calibrate_()
return True
def _setup_():
global rServo
global lServo
GPIO.setmode(GPIO.BCM)
GPIO.setup(RIGHT_SERVO_PIN, GPIO.OUT)
rServo.start(5)
lServo = GPIO.PMW(LEFT_SERVO_PIN, 100)
lServo = GPIO.start(5)
GPIO.setwarnings(False)
GPIO.setup(notReadyLedPin, GPIO.OUT)
GPIO.setup(readyLedPin, GPIO.OUT)
GPIO.setup(triggerPin, GPIO.OUT)
SERVO_CAM0.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, Frame_W)
SERVO_CAM0.set(cv2.cv.CV_CAP - PROP_FRAME_HEIGHT, Frame_H)
SERVO_CAM1.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, Frame_W)
SERVO_CAM1.set(cv2.cv.CV_CAP - PROP_FRAME_HEIGHT, Frame_H)
time.sleep(2)
GPIO.setup(CON_PIN, GPIO.OUT)
GPIO.output(CON_PIN, GPIO.HIGH)
time.sleep(.001)
GPIO.setup(CON_PIN, GPIO.IN)
_offset_calibrate_()
return True
def setup():
global adc
if (adc.detectI2C(0x48)): # If pcf8591.
adc = PCF8591()
elif (adc.detectI2C(0x4b)): # If ads7830.
adc = ADS7830()
else:
print("No correct I2C address found, \n"
"Use command 'i2cdetect -y 1' to check I2C address")
exit(-1)
global p
GPIO.setmode(GPIO.BOARD)
GPIO.setup(motorPin1, GPIO.OUT)
GPIO.setup(motorPin2, GPIO.OUT)
GPIO.setup(enablePin, GPIO.OUT)
p = GPIO(enablePin, 1000)
p.start(0)
def test_setup(self):
rpi_gpio = Mock()
GPIO = GPIO_TestSail(rpi_gpio)
GPIO.start(11, 50)
rpi_gpio.GPIO.assert_called_with(1, 2000)
def test_set_frequency(self):
rpi_gpio = Mock()
GPIO = GPIO.TestSail(rpi_gpio)
GPIO.start(1, 50)
GPIO.set_frequency(1, 1000)
def test_set_duty_cycle_invalid(self):
rpi_gpio = Mock()
GPIO = GPIO.TestSail(rpi_gpio)
GPIO.start(11, 7.5)
self.assertRaises(ValueError, GPIO.set_duty_cycle, 11, 15)
self.assertRaises(ValueError, GPIO.set_duty_cycle, 11, -1)
def test_set_duty_cycle_valid(self):
rpi_gpio = Mock()
GPIO = GPIO.TestSail(rpi_gpio)
GPIO.start(11, 50) #pin and frequency of PWM
GPIO.set_duty_cycle(11, 7.5) #7 middle, 2 start, 12 to 14 end
def test_setupPi(self):
rpi_gpio = Mock()
GPIO = GPIO_TestRudderDirection(rpi_gpio)
GPIO.start(12, 18)
rpi_gpio.GPIO.assert_called_with(1, 1000)
def test_set_frequency(self):
rpi_gpio = Mock()
GPIO = GPIO.TestRudderDirection(rpi_gpio)
GPIO.start(12, 50)
GPIO.set_frequency(1, 800)
def test_set_duty_cycle_invalid(self):
rpi_gpio = Mock()
GPIO = GPIO.TestRudderDirection(rpi_gpio)
GPIO.start(12, 7.5)
self.assertRaises(ValueError, GPIO.set_duty_cycle, 12, 15)
self.assertRaises(ValueError, GPIO.set_duty_cycle, 12, -1)
def test_set_duty_cycle_valid(self):
rpi_gpio = Mock()
GPIO = GPIO.TestRudderDirection(rpi_gpio)
GPIO.start(12, 50) #pin and frequency of PWM
GPIO.set_duty_cycle(12, 7.5)
